Error handling: Motor power OFF.
Error reset: Possible.
Description: With the servo ON, the feedback current from the current detection circuit on the servo amplifier power block exceeds 1.5 times the motor's maximum instantaneous current.
The current threshold for each axis is set and detected by the servo FPGA (field-programmable gate array) installed on the servo board.
Servo FPGA
Current feedback
Servo board
PWM
Current
Detection
Circuit
IPM
Each motor
Robot main body
Power block
Controller
Main causes:
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A problem with the power block.
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A problem with the servo board.
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There is a short circuit between the U-phase, V-phase, or W-phase and the ground wire between the power block and motor.
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The separate harness connector has a poor connection.
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A problem with the motor.
Countermeasures:
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Replace the servo amplifier unit.
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Check the U-phase, V-phase, and W-phase of the motor power cables for short circuits, ground faults, open circuits, or poor connections. If necessary, replace the separate harness or machine harness.
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Replace the motor.